Steele joined the Atlanta Falcons as an offensive assistant in 2019 after spending the previous five seasons with the Tampa Bay Buccaneers. From 2017–2018, Steele was the Buccaneers' tight ends coach.
On February 5, 2020, Steele was promoted by the Falcons becoming their tight ends coach.[1]
After being hired to be an analyst for Auburn, on July 23, 2021, Steele was instead hired to be the assistant offensive line coach for the Minnesota Vikings.
On February 14, 2022, the Denver Broncos hired Steele as their assistant offensive line coach.[5] Steele was not retained by the Broncos for 2023 after Sean Payton was hired as head coach.[6]
On February 22, 2023, the Arizona Cardinals hired Steele as their tight ends coach.[7]